Diff: main.cpp

Revision:

48:d46f3c5638ee

Parent:

47:8455eedea226

--- a/main.cpp	Wed Dec 02 09:07:00 2020 +0000
+++ b/main.cpp	Fri Feb 05 10:35:50 2021 +0000
@@ -268,10 +268,10 @@
         pulseRised2=1;
         dcEncoderCnt++;
         double sincronizza = frazioneImpulsi * dcEncoderCnt;        
-        prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
+        prePosSD=prePosSDmin+(uint32_t)sincronizza; // preposizionamento SD
         #if defined(speedMaster)
             if (quinconceActive==0) {
-                posForQuinc=500+(uint32_t)sincronizza;
+                posForQuinc=prePosSDmin+(uint32_t)sincronizza;
             }
         #endif
     }
@@ -449,6 +449,16 @@
 // aggiornamento parametri di lavoro fissi e da Tritecnica
 void aggiornaParametri()
 {
+    if (pickNumber > cellsNumber){
+        prePosSD=250;        // actual position of seed wheel (step of motor)
+        prePosSDmin=250;
+        prePosSDvar=290;        
+    }else{
+        prePosSD=500;        // actual position of seed wheel (step of motor)
+        prePosSDmin=500;
+        prePosSDvar=580;        
+        
+    }
     speedPerimeter = Pi * speedWheelDiameter ;                          // perimeter of speed wheel
     pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f;         // linear space between speed wheel pulse
     seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f));         // perimeter of seed wheel
@@ -1876,10 +1886,10 @@
         #if !defined(simulaBanco)
             seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
         #else
-            if ((prePosSD-500) >= SDsectorStep) {
+            if ((prePosSD-prePosSDmin) >= SDsectorStep) {
                 seedWheelZeroPinInput=1;
             }
-            if ((prePosSD > 500)&&(prePosSD<580)) {
+            if ((prePosSD > prePosSDmin)&&(prePosSD<prePosSDvar)) {
                 seedWheelZeroPinInput=0;
             }
         #endif
@@ -1893,15 +1903,15 @@
             if (seedWheelZeroPinInput==1) {
                 quinconceOut=0;
             }
-            if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
+             if (((double)(prePosSD-prePosSDmin) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
                 quinconceOut=1;
             }
             if (quinconceActive==1) {
                 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
-                    posForQuinc=500;
+                    posForQuinc=prePosSDmin;
                     oldQuinconceOut=0;
                 }
-                if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
+                if (((double)posForQuinc-(double)prePosSDmin)> (SDsectorStep-200)) {
                     oldQuinconceOut=1;
                 }
             }
@@ -2026,7 +2036,7 @@
             }
             if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
                 timeIntraPick = (double)intraPickTimer.read_ms();
-                prePosSD=500; // preposizionamento SD
+                prePosSD = prePosSDmin; // preposizionamento SD
                 intraPickTimer.reset();
                 rotationTimeOut.reset();
                 seedFilter.reset();